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wangdongustc / AprilTagGenerator

An AprilTag based Camera Calibration Board Vectorgraph Pattern Generator Based on Qt
BSD 2-Clause "Simplified" License
8 stars 5 forks source link

What software are you using for calibration? #4

Open mdurrani808 opened 2 years ago

mdurrani808 commented 2 years ago

Hi all, this isn't directly related to this software, but I was curious as to which software you were using for calibration using april tags. April Robotics Toolkit / April Camera seems to be depreciated.

wangdongustc commented 2 years ago

Hi all, this isn't directly related to this software, but I was curious as to which software you were using for calibration using april tags. April Robotics Toolkit / April Camera seems to be depreciated.

Hi,sorry for the late response.

A great tool we are using is the Kalibr toolbox. https://github.com/ethz-asl/kalibr

Actually after extracting the April tag corner points, we can feed them to a lot of tools out there, like the OpenCV calibration tools.

Alex-Beh commented 2 years ago

Hi @wangdongustc ,

May I know which tool/library you use to determine the pose of the board?

I tried using the function cv::aruco::estimatePoseBoard from OpenCV. I have reversed the tagDetections from the detector because the function expect clockwise order and starting with the top left corner. However the detection result is wrong.

Link to: Detection of ChArUco Boards image

wangdongustc commented 2 years ago

Hi @Alex-Beh , I think calculating the pose of the board should be a simple PnP problem. a solvePnP from OpenCV should be enough for this.